#ifndef Mahony_h
#define Mahony_h

extern volatile float twoKp;			// 2 * proportional gain (Kp)
extern volatile float twoKi;			// 2 * integral gain (Ki)
extern float q[4];	
extern float pitch,yaw,roll;      // Y Z X


void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void MahonyAHRSupdateIMU(float q[4],float gx, float gy, float gz, float ax, float ay, float az);
void q4_Init(float ax,float ay,float az);
void Get_EulerAngle();
#endif